Object grasping in domestic environments using social robots has an enormous potential to help dependant people with certain degree of disability. In this work, we made use of the well-known Pepper social robot to carry out such task. We provide an integrated solution using ROS to recognize and grasp simple objects. That system was deployed on an accelerator platform (Jetson TX1) to be able to perform object recognition in real time using RGB-D sensors attached to the robot. By using our system, we proved that the Pepper robot shows a great potential for such kind of domestic assistance tasks.